A LuGre tire friction model with exact aggregate dynamics

被引：0
|
作者：
Tsiotras, P [1 ]
Velenis, E [1 ]
Sorine, M [1 ]
机构：
[1] Georgia Inst Technol, Sch Aerosp Engn, Atlanta, GA 30332 USA
来源：
PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2004年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The LuGre dynamic point contact friction model for the two-dimensional translation of a body on a surface has been used in the past to derive a model for the friction forces and moments at the contact patch of a tire. The resulting tire friction model is distributed, described by a set of partial differential equations. Several approximations have been used in the literature to approximate this distributed model using a set of ordinary differential equations, making the model appropriate for control design and on-line estimation. In this paper the method of moments is used to derive a set of ordinary differential equations to describe the exact average dynamics of the distributed model. Three cases of normal load distribution are considered and compared: uniform, trapezoidal and cubic load distribution. Simulations are also presented to compare with existing approximate steady-state lumped models.
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页码：1457 / 1462
页数：6
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